The United States and Japan will step up their defence cooperation to deal with the threat from nuclear-armed North Korea as tensions in East Asia remain high, officials from the two allies said on Thursday.

Row continues over boat incursion secrecy

The opposition and Greens are demanding a full and frank government account of the circumstances surrounding Australian border protection vessels' six breaches of Indonesian territory, following the release of a heavily redacted report.

Customs and Defence conducted a joint internal review into the incursions - which took place between December 2013 and January 2014 under Operation Sovereign Borders - but only the executive summary with five recommendations was publicly released in February.

AAP obtained a copy of the 55-page report, under Freedom of Information laws, but Customs cited damage to international relations among the reasons for 18 blacked-out pages and other redacted sections.

Both Labor and the Greens have been vocal in their calls for the report's full release.